The first line of the warn message has some hints. The directory /var/lib/tor is owned by the user debian-tor. You executed sudo tor which means that the Tor process is run by the root user. This leads to the error message.

You can either execute the command as debian-tor user:

sudo -u debian-tor tor

or start the process via systemd (or start-stop scripts):

sudo systemctl start tor

The first line of the warn message has some hints. The directory /var/lib/tor is owned by the user debian-tor. You executed sudo tor which means that the Tor process is run by the root user. This leads to the error message.

You can either execute the command as debian-tor user:

sudo -u debian-tor tor

or start the process via systemd (or similar means):

sudo systemctl start tor
sudo service tor start